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Drive/20210706_Drive_Mars_Rover.ino
Normal file
798
Drive/20210706_Drive_Mars_Rover.ino
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@ -0,0 +1,798 @@
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#include <Arduino.h>
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#include <ArduinoJson.h>
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#include <string>
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#include <Wire.h>
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#include <INA219_WE.h>
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#include "SPI.h"
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#define RXpin 0 // Define your RX pin here
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#define TXpin 0 // Define your TX pin here
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bool debug = true;
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//TO IMPLEMENT
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//DONE 2 way serial
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//DONE F<>,B<>,S,L<>,R<>,p<0--1023>
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//DONE Obtain current and power usage, get voltage from analog pin
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//request angle facing
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//DONE speed control 0-1
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//speed calibration, 0 stop and max speed to match
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//distance travveled and x and y at request
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//-------------------------------------------------------SMPS & MOTOR CODE START------------------------------------------------------//
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INA219_WE ina219; // this is the instantiation of the library for the current sensor
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float open_loop, closed_loop; // Duty Cycles
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float vpd, vb, vref, iL, dutyref, current_mA; // Measurement Variables
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unsigned int sensorValue0, sensorValue1, sensorValue2, sensorValue3; // ADC sample values declaration
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float ev = 0, cv = 0, ei = 0, oc = 0; //internal signals
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float Ts = 0.0008; //1.25 kHz control frequency. It's better to design the control period as integral multiple of switching period.
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float kpv = 0.05024, kiv = 15.78, kdv = 0; // voltage pid.
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float u0v, u1v, delta_uv, e0v, e1v, e2v; // u->output; e->error; 0->this time; 1->last time; 2->last last time
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float kpi = 0.02512, kii = 39.4, kdi = 0; // current pid.
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float u0i, u1i, delta_ui, e0i, e1i, e2i; // Internal values for the current controller
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float uv_max = 4, uv_min = 0; //anti-windup limitation
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float ui_max = 1, ui_min = 0; //anti-windup limitation
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float current_limit = 1.0;
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boolean Boost_mode = 0;
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boolean CL_mode = 0;
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unsigned int loopTrigger;
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unsigned int com_count = 0; // a variables to count the interrupts. Used for program debugging.
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//************************** Motor Constants **************************//
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unsigned long previousMillis = 0; //initializing time counter
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const long f_i = 10000; //time to move in forward direction, please calculate the precision and conversion factor
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const long r_i = 20000; //time to rotate clockwise
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const long b_i = 30000; //time to move backwards
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const long l_i = 40000; //time to move anticlockwise
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const long s_i = 50000;
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int DIRRstate = LOW; //initializing direction states
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int DIRLstate = HIGH;
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int DIRL = 20; //defining left direction pin
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int DIRR = 21; //defining right direction pin
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int pwmr = 5; //pin to control right wheel speed using pwm
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int pwml = 9; //pin to control left wheel speed using pwm
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//*******************************************************************//
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//-------------------------------------------------------SMPS & MOTOR CODE END------------------------------------------------------//
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//-------------------------------------------------------OPTICAL SENSOR CODE START------------------------------------------------------//
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#define PIN_SS 10
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#define PIN_MISO 12
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#define PIN_MOSI 11
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#define PIN_SCK 13
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#define PIN_MOUSECAM_RESET 8
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#define PIN_MOUSECAM_CS 7
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#define ADNS3080_PIXELS_X 30
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#define ADNS3080_PIXELS_Y 30
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#define ADNS3080_PRODUCT_ID 0x00
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#define ADNS3080_REVISION_ID 0x01
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#define ADNS3080_MOTION 0x02
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#define ADNS3080_DELTA_X 0x03
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#define ADNS3080_DELTA_Y 0x04
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#define ADNS3080_SQUAL 0x05
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#define ADNS3080_PIXEL_SUM 0x06
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#define ADNS3080_MAXIMUM_PIXEL 0x07
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#define ADNS3080_CONFIGURATION_BITS 0x0a
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#define ADNS3080_EXTENDED_CONFIG 0x0b
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#define ADNS3080_DATA_OUT_LOWER 0x0c
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#define ADNS3080_DATA_OUT_UPPER 0x0d
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#define ADNS3080_SHUTTER_LOWER 0x0e
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#define ADNS3080_SHUTTER_UPPER 0x0f
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#define ADNS3080_FRAME_PERIOD_LOWER 0x10
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#define ADNS3080_FRAME_PERIOD_UPPER 0x11
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#define ADNS3080_MOTION_CLEAR 0x12
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#define ADNS3080_FRAME_CAPTURE 0x13
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#define ADNS3080_SROM_ENABLE 0x14
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#define ADNS3080_FRAME_PERIOD_MAX_BOUND_LOWER 0x19
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#define ADNS3080_FRAME_PERIOD_MAX_BOUND_UPPER 0x1a
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#define ADNS3080_FRAME_PERIOD_MIN_BOUND_LOWER 0x1b
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#define ADNS3080_FRAME_PERIOD_MIN_BOUND_UPPER 0x1c
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#define ADNS3080_SHUTTER_MAX_BOUND_LOWER 0x1e
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#define ADNS3080_SHUTTER_MAX_BOUND_UPPER 0x1e
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#define ADNS3080_SROM_ID 0x1f
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#define ADNS3080_OBSERVATION 0x3d
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#define ADNS3080_INVERSE_PRODUCT_ID 0x3f
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#define ADNS3080_PIXEL_BURST 0x40
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#define ADNS3080_MOTION_BURST 0x50
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#define ADNS3080_SROM_LOAD 0x60
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#define ADNS3080_PRODUCT_ID_VAL 0x17
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int total_x = 0;
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int total_y = 0;
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int total_x1 = 0;
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int total_y1 = 0;
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int x=0;
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int y=0;
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int a=0;
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int b=0;
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int distance_x=0;
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int distance_y=0;
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volatile byte movementflag=0;
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volatile int xydat[2];
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int convTwosComp(int b){
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//Convert from 2's complement
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if(b & 0x80){
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b = -1 * ((b ^ 0xff) + 1);
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}
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return b;
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}
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int tdistance = 0;
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void mousecam_reset()
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{
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digitalWrite(PIN_MOUSECAM_RESET,HIGH);
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delay(1); // reset pulse >10us
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digitalWrite(PIN_MOUSECAM_RESET,LOW);
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delay(35); // 35ms from reset to functional
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}
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int mousecam_init()
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{
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pinMode(PIN_MOUSECAM_RESET,OUTPUT);
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pinMode(PIN_MOUSECAM_CS,OUTPUT);
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digitalWrite(PIN_MOUSECAM_CS,HIGH);
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mousecam_reset();
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int pid = mousecam_read_reg(ADNS3080_PRODUCT_ID);
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if(pid != ADNS3080_PRODUCT_ID_VAL)
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return -1;
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// turn on sensitive mode
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mousecam_write_reg(ADNS3080_CONFIGURATION_BITS, 0x19);
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return 0;
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}
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void mousecam_write_reg(int reg, int val)
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{
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digitalWrite(PIN_MOUSECAM_CS, LOW);
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SPI.transfer(reg | 0x80);
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SPI.transfer(val);
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digitalWrite(PIN_MOUSECAM_CS,HIGH);
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delayMicroseconds(50);
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}
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int mousecam_read_reg(int reg)
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{
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digitalWrite(PIN_MOUSECAM_CS, LOW);
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SPI.transfer(reg);
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delayMicroseconds(75);
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int ret = SPI.transfer(0xff);
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digitalWrite(PIN_MOUSECAM_CS,HIGH);
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delayMicroseconds(1);
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return ret;
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}
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struct MD
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{
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byte motion;
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char dx, dy;
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byte squal;
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word shutter;
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byte max_pix;
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};
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void mousecam_read_motion(struct MD *p)
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{
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digitalWrite(PIN_MOUSECAM_CS, LOW);
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SPI.transfer(ADNS3080_MOTION_BURST);
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delayMicroseconds(75);
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p->motion = SPI.transfer(0xff);
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p->dx = SPI.transfer(0xff);
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p->dy = SPI.transfer(0xff);
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p->squal = SPI.transfer(0xff);
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p->shutter = SPI.transfer(0xff)<<8;
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p->shutter |= SPI.transfer(0xff);
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p->max_pix = SPI.transfer(0xff);
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digitalWrite(PIN_MOUSECAM_CS,HIGH);
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delayMicroseconds(5);
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}
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// pdata must point to an array of size ADNS3080_PIXELS_X x ADNS3080_PIXELS_Y
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// you must call mousecam_reset() after this if you want to go back to normal operation
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int mousecam_frame_capture(byte *pdata)
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{
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mousecam_write_reg(ADNS3080_FRAME_CAPTURE,0x83);
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digitalWrite(PIN_MOUSECAM_CS, LOW);
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SPI.transfer(ADNS3080_PIXEL_BURST);
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delayMicroseconds(50);
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int pix;
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byte started = 0;
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int count;
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int timeout = 0;
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int ret = 0;
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for(count = 0; count < ADNS3080_PIXELS_X * ADNS3080_PIXELS_Y; )
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{
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pix = SPI.transfer(0xff);
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delayMicroseconds(10);
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if(started==0)
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{
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if(pix&0x40)
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started = 1;
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else
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{
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timeout++;
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if(timeout==100)
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{
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ret = -1;
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break;
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}
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}
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}
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if(started==1)
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{
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pdata[count++] = (pix & 0x3f)<<2; // scale to normal grayscale byte range
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}
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}
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digitalWrite(PIN_MOUSECAM_CS,HIGH);
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delayMicroseconds(14);
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return ret;
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}
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//-------------------------------------------------------OPTICAL SENSOR CODE END------------------------------------------------------//
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//Tracker Variables
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int current_x = 0;
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int current_y = 0;
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int goal_x = 0;
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int goal_y = 0;
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int distanceGoal;
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bool commandComplete = 1;
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float powerUsage_mWh = 0;
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int distTravelled_mm = 0;
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bool initialAngleSet=false;
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//calibration varibles
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int angularDrift = 0; //+ve to right, -ve to left
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int leftStart = 80; //pwm min for left motor
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int leftStop = 255; //pwm max for left motor
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int rightStart = 80; //pwm min for right motor
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int rightStop = 255; //pwm max for right motor
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//Energy Usage Variables
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unsigned long previousMillis_Energy = 0; // will store last time energy use was updated
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const long interval_Energy = 1000; //energy usaged update frequency
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float totalEnergyUsed = 0;
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float powerUsed = 0;
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int loopCount = 0;
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float motorVoltage = 0;
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int getPWMfromSpeed(float speedr,bool left) {
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if (speedr >= 1) {
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return 512;
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}
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else if (speedr < 0) {
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return 0;
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}
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else {
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int speedpercentage = (speedr * 100);
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if(left){
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return map(speedpercentage,0,100,leftStart,leftStop);
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}
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else{
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return map(speedpercentage,0,100,rightStart,rightStop);
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}
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}
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}
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void setup()
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{
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//-------------------------------------------------------SMPS & MOTOR CODE START------------------------------------------------------//
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//************************** Motor Pins Defining **************************//
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pinMode(DIRR, OUTPUT);
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pinMode(DIRL, OUTPUT);
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pinMode(pwmr, OUTPUT);
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pinMode(pwml, OUTPUT);
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digitalWrite(pwmr, HIGH); //setting right motor speed at maximum
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digitalWrite(pwml, HIGH); //setting left motor speed at maximum
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//*******************************************************************//
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//Basic pin setups
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noInterrupts(); //disable all interrupts
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pinMode(13, OUTPUT); //Pin13 is used to time the loops of the controller
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pinMode(3, INPUT_PULLUP); //Pin3 is the input from the Buck/Boost switch
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pinMode(2, INPUT_PULLUP); // Pin 2 is the input from the CL/OL switch
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analogReference(EXTERNAL); // We are using an external analogue reference for the ADC
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// TimerA0 initialization for control-loop interrupt.
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TCA0.SINGLE.PER = 999; //
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TCA0.SINGLE.CMP1 = 999; //
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TCA0.SINGLE.CTRLA = TCA_SINGLE_CLKSEL_DIV16_gc | TCA_SINGLE_ENABLE_bm; //16 prescaler, 1M.
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TCA0.SINGLE.INTCTRL = TCA_SINGLE_CMP1_bm;
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||||
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// TimerB0 initialization for PWM output
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||||
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pinMode(6, OUTPUT);
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TCB0.CTRLA = TCB_CLKSEL_CLKDIV1_gc | TCB_ENABLE_bm; //62.5kHz
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||||
analogWrite(6, 120);
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interrupts(); //enable interrupts.
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||||
Wire.begin(); // We need this for the i2c comms for the current sensor
|
||||
ina219.init(); // this initiates the current sensor
|
||||
Wire.setClock(700000); // set the comms speed for i2c
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||||
//-------------------------------------------------------SMPS & MOTOR CODE END------------------------------------------------------//
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||||
Serial.begin(115200); // Set up hardware UART0 (Connected to USB port)
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||||
Serial1.begin(9600); // Set up hardware UART1
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||||
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||||
//Serial.println(getPWMfromSpeed(-1));
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||||
//Serial.println(getPWMfromSpeed(256));
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||||
//Serial.println(getPWMfromSpeed(0.5));
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||||
// Other Drive setup stuff
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/////////currentHeading = REQUEST HEADING HERE;
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||||
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||||
analogWrite(pwmr,0);
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||||
analogWrite(pwml,0);
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||||
//digitalWrite(DIRR, LOW);
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||||
//digitalWrite(DIRL, HIGH);
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||||
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||||
|
||||
|
||||
pinMode(PIN_SS,OUTPUT);
|
||||
pinMode(PIN_MISO,INPUT);
|
||||
pinMode(PIN_MOSI,OUTPUT);
|
||||
pinMode(PIN_SCK,OUTPUT);
|
||||
|
||||
SPI.begin();
|
||||
SPI.setClockDivider(SPI_CLOCK_DIV32);
|
||||
SPI.setDataMode(SPI_MODE3);
|
||||
SPI.setBitOrder(MSBFIRST);
|
||||
|
||||
Serial.begin(9600);
|
||||
|
||||
if(mousecam_init()==-1)
|
||||
{
|
||||
Serial.println("Mouse cam failed to init");
|
||||
while(1);
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
bool commandCompletionStatus = 1; //0-No Command, 1-New Command, 2-Command being run, 3-Command Complete
|
||||
int requiredHeading = 0;
|
||||
int distance = 0;
|
||||
float spd = 0;
|
||||
int currentHeading = 0;
|
||||
//reset variables for update on completion
|
||||
|
||||
unsigned long previousMillis_Command = 0;
|
||||
const long interval_Command = 1000;
|
||||
DeserializationError error;
|
||||
|
||||
char asciiart(int k)
|
||||
{
|
||||
static char foo[] = "WX86*3I>!;~:,`. ";
|
||||
return foo[k>>4];
|
||||
}
|
||||
|
||||
byte frame[ADNS3080_PIXELS_X * ADNS3080_PIXELS_Y];
|
||||
|
||||
|
||||
void loop()
|
||||
{
|
||||
|
||||
analogWrite(pwmr,512);
|
||||
analogWrite(pwml,512);
|
||||
digitalWrite(DIRR, HIGH);
|
||||
digitalWrite(DIRL, LOW);
|
||||
Serial.println(pwmr);
|
||||
|
||||
//Serial.println("Here");
|
||||
DynamicJsonDocument rdoc(1024); // receive doc, not sure how big this needs to be
|
||||
|
||||
//deserializeJson(rdoc, Serial1); // Take JSON input from UART1
|
||||
|
||||
//Check for updates every 1s...
|
||||
unsigned long currentMillis_Command = millis();
|
||||
|
||||
if (currentMillis_Command - previousMillis_Command >= interval_Command) {
|
||||
// save the last time you blinked the LED
|
||||
previousMillis_Command = currentMillis_Command;
|
||||
error = deserializeJson(rdoc, Serial1);
|
||||
//Serial.println("H");
|
||||
}
|
||||
|
||||
|
||||
// Test if parsing succeeds.
|
||||
if (error) {
|
||||
//Serial.print(F("deserializeJson() failed: "));
|
||||
//Serial.println(error.f_str());
|
||||
return;
|
||||
}
|
||||
else{
|
||||
//parsing success, prepare command and pull request information
|
||||
commandCompletionStatus = 1;
|
||||
requiredHeading = rdoc["rH"];
|
||||
distance = rdoc["dist"];
|
||||
spd = rdoc["sp"];
|
||||
currentHeading = rdoc["cH"];
|
||||
//reset variables for update on completion
|
||||
commandComplete = 0;
|
||||
powerUsage_mWh = 0.0;
|
||||
distTravelled_mm = 0;
|
||||
}
|
||||
|
||||
//if(current_x!=goal_x)
|
||||
|
||||
// Do Drive stuff, set the 5 values above
|
||||
|
||||
if(commandCompletionStatus == 0){ //noCommand
|
||||
//Do Nothing just wait
|
||||
}
|
||||
if(commandCompletionStatus == 1){ //newCommand
|
||||
//set goals
|
||||
goal_x += distance*sin(requiredHeading);
|
||||
goal_y += distance*cos(requiredHeading);
|
||||
total_y = 0;
|
||||
total_x = 0;
|
||||
commandCompletionStatus = 2;
|
||||
|
||||
initialAngleSet=false;
|
||||
}
|
||||
if(commandCompletionStatus == 2){ //ongoingCommand
|
||||
//start moving towards goal
|
||||
|
||||
//set angle first
|
||||
if(!initialAngleSet){
|
||||
//turn to angle
|
||||
currentHeading = getCurrentHeading();
|
||||
if(currentHeading<requiredHeading){ //turn right
|
||||
analogWrite(pwmr,getPWMfromSpeed(spd,false));
|
||||
analogWrite(pwml,getPWMfromSpeed(spd,true));
|
||||
digitalWrite(DIRR, LOW);
|
||||
digitalWrite(DIRL, LOW);
|
||||
}
|
||||
else if(currentHeading>requiredHeading){ //turn left
|
||||
analogWrite(pwmr,getPWMfromSpeed(spd,false));
|
||||
analogWrite(pwml,getPWMfromSpeed(spd,true));
|
||||
digitalWrite(DIRR, HIGH);
|
||||
digitalWrite(DIRL, HIGH);
|
||||
}
|
||||
else{
|
||||
//heading correct therefore move to next step...
|
||||
//STOP!!!!
|
||||
digitalWrite(pwmr,LOW);
|
||||
digitalWrite(pwml,LOW);
|
||||
|
||||
initialAngleSet = true;
|
||||
}
|
||||
}
|
||||
else{ //then move forwards but check angle for drift
|
||||
if(total_x - distance > 0){ //go forwards
|
||||
analogWrite(pwmr,getPWMfromSpeed(spd,false));
|
||||
analogWrite(pwml,getPWMfromSpeed(spd,true));
|
||||
digitalWrite(DIRR, HIGH);
|
||||
digitalWrite(DIRL, LOW);
|
||||
}
|
||||
else if(total_x - distance < 0){//go backwards
|
||||
analogWrite(pwmr,getPWMfromSpeed(spd,false));
|
||||
analogWrite(pwml,getPWMfromSpeed(spd,true));
|
||||
digitalWrite(DIRR, LOW);
|
||||
digitalWrite(DIRL, HIGH);
|
||||
}
|
||||
else if((total_x == distance)) {//distance met
|
||||
//STOP!!!!!
|
||||
digitalWrite(pwmr,LOW);
|
||||
digitalWrite(pwml,LOW);
|
||||
commandCompletionStatus = 3;
|
||||
initialAngleSet = true;
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
if(commandCompletionStatus == 3){ //currentPosMatchesOrExceedsRequest
|
||||
///finish moving
|
||||
|
||||
//send update via UART
|
||||
|
||||
//prepare feedback variables
|
||||
commandComplete = true;
|
||||
current_x = goal_x;
|
||||
current_y = goal_y;
|
||||
distTravelled_mm += distance;
|
||||
//compile energy use
|
||||
unsigned long currentMillis_Energy = millis();
|
||||
|
||||
totalEnergyUsed += (currentMillis_Energy - previousMillis_Energy) * (powerUsed / loopCount) / 1000 / (60 * 60);
|
||||
previousMillis_Energy = currentMillis_Energy;
|
||||
if (debug) {
|
||||
Serial.print(motorVoltage);
|
||||
Serial.print("Energy Used: ");
|
||||
Serial.print(totalEnergyUsed);
|
||||
Serial.println("mWh");
|
||||
}
|
||||
|
||||
loopCount = 0; //reset counter to zero
|
||||
powerUsed = 0;//reset power usage
|
||||
powerUsage_mWh = totalEnergyUsed;
|
||||
totalEnergyUsed = 0;
|
||||
|
||||
DynamicJsonDocument tdoc(1024); // transmit doc, not sure how big this needs to be
|
||||
tdoc["comp"] = commandComplete;
|
||||
tdoc["mWh"] = powerUsage_mWh;
|
||||
tdoc["mm"] = distTravelled_mm;
|
||||
tdoc["pos"][0] = current_x;
|
||||
tdoc["pos"][1] = current_y;
|
||||
serializeJson(tdoc, Serial1); // Build JSON and send on UART1
|
||||
commandCompletionStatus = 0;
|
||||
|
||||
}
|
||||
|
||||
//Handle power usage
|
||||
//find motor voltage
|
||||
//int motorVSensor = analogRead(A5);
|
||||
//float motorVoltage = motorVSensor * (5.0 / 1023.0);
|
||||
float motorVoltage = 5;
|
||||
|
||||
//find average power
|
||||
|
||||
if(current_mA >=0){
|
||||
powerUsed += current_mA * motorVoltage;
|
||||
}
|
||||
Serial.println(powerUsed);
|
||||
|
||||
//calculate averages for energy use calculations
|
||||
loopCount += 1; //handle loop quantity for averaging
|
||||
|
||||
//find average current
|
||||
//find average voltage
|
||||
|
||||
//update command/control
|
||||
|
||||
|
||||
if(movementflag){
|
||||
|
||||
tdistance = tdistance + convTwosComp(xydat[0]);
|
||||
Serial.println("Distance = " + String(tdistance));
|
||||
movementflag=0;
|
||||
delay(3);
|
||||
}
|
||||
int val = mousecam_read_reg(ADNS3080_PIXEL_SUM);
|
||||
MD md;
|
||||
mousecam_read_motion(&md);
|
||||
for(int i=0; i<md.squal/4; i++)
|
||||
Serial.print('*');
|
||||
Serial.print(' ');
|
||||
Serial.print((val*100)/351);
|
||||
Serial.print(' ');
|
||||
Serial.print(md.shutter); Serial.print(" (");
|
||||
Serial.print((int)md.dx); Serial.print(',');
|
||||
Serial.print((int)md.dy); Serial.println(')');
|
||||
|
||||
// Serial.println(md.max_pix);
|
||||
delay(100);
|
||||
|
||||
|
||||
distance_x = md.dx; //convTwosComp(md.dx);
|
||||
distance_y = md.dy; //convTwosComp(md.dy);
|
||||
|
||||
total_x1 = (total_x1 + distance_x);
|
||||
total_y1 = (total_y1 + distance_y);
|
||||
|
||||
total_x = 10*total_x1/157; //Conversion from counts per inch to mm (400 counts per inch)
|
||||
total_y = 10*total_y1/157; //Conversion from counts per inch to mm (400 counts per inch)
|
||||
|
||||
|
||||
Serial.print('\n');
|
||||
|
||||
|
||||
Serial.println("Distance_x = " + String(total_x));
|
||||
|
||||
Serial.println("Distance_y = " + String(total_y));
|
||||
Serial.print('\n');
|
||||
//-------------------------------------------------------SMPS & MOTOR CODE START------------------------------------------------------//
|
||||
unsigned long currentMillis = millis();
|
||||
if (loopTrigger) { // This loop is triggered, it wont run unless there is an interrupt
|
||||
|
||||
digitalWrite(13, HIGH); // set pin 13. Pin13 shows the time consumed by each control cycle. It's used for debugging.
|
||||
|
||||
// Sample all of the measurements and check which control mode we are in
|
||||
sampling();
|
||||
CL_mode = digitalRead(3); // input from the OL_CL switch
|
||||
Boost_mode = digitalRead(2); // input from the Buck_Boost switch
|
||||
|
||||
if (Boost_mode) {
|
||||
if (CL_mode) { //Closed Loop Boost
|
||||
pwm_modulate(1); // This disables the Boost as we are not using this mode
|
||||
} else { // Open Loop Boost
|
||||
pwm_modulate(1); // This disables the Boost as we are not using this mode
|
||||
}
|
||||
} else {
|
||||
if (CL_mode) { // Closed Loop Buck
|
||||
// The closed loop path has a voltage controller cascaded with a current controller. The voltage controller
|
||||
// creates a current demand based upon the voltage error. This demand is saturated to give current limiting.
|
||||
// The current loop then gives a duty cycle demand based upon the error between demanded current and measured
|
||||
// current
|
||||
current_limit = 3; // Buck has a higher current limit
|
||||
ev = vref - vb; //voltage error at this time
|
||||
cv = pidv(ev); //voltage pid
|
||||
cv = saturation(cv, current_limit, 0); //current demand saturation
|
||||
ei = cv - iL; //current error
|
||||
closed_loop = pidi(ei); //current pid
|
||||
closed_loop = saturation(closed_loop, 0.99, 0.01); //duty_cycle saturation
|
||||
pwm_modulate(closed_loop); //pwm modulation
|
||||
} else { // Open Loop Buck
|
||||
current_limit = 3; // Buck has a higher current limit
|
||||
oc = iL - current_limit; // Calculate the difference between current measurement and current limit
|
||||
if ( oc > 0) {
|
||||
open_loop = open_loop - 0.001; // We are above the current limit so less duty cycle
|
||||
} else {
|
||||
open_loop = open_loop + 0.001; // We are below the current limit so more duty cycle
|
||||
}
|
||||
open_loop = saturation(open_loop, dutyref, 0.02); // saturate the duty cycle at the reference or a min of 0.01
|
||||
pwm_modulate(open_loop); // and send it out
|
||||
}
|
||||
}
|
||||
// closed loop control path
|
||||
|
||||
digitalWrite(13, LOW); // reset pin13.
|
||||
loopTrigger = 0;
|
||||
}
|
||||
|
||||
//************************** Motor Testing **************************//
|
||||
//this part of the code decides the direction of motor rotations depending on the time lapsed. currentMillis records the time lapsed once it is called.
|
||||
|
||||
|
||||
//*******************************************************************//
|
||||
//-------------------------------------------------------SMPS & MOTOR CODE END------------------------------------------------------//
|
||||
|
||||
}
|
||||
|
||||
int getCurrentHeading(){
|
||||
int currentAngle = 0; //-------------___<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<
|
||||
return currentAngle;
|
||||
}
|
||||
|
||||
// Timer A CMP1 interrupt. Every 800us the program enters this interrupt.
|
||||
// This, clears the incoming interrupt flag and triggers the main loop.
|
||||
|
||||
ISR(TCA0_CMP1_vect) {
|
||||
TCA0.SINGLE.INTFLAGS |= TCA_SINGLE_CMP1_bm; //clear interrupt flag
|
||||
loopTrigger = 1;
|
||||
}
|
||||
|
||||
// This subroutine processes all of the analogue samples, creating the required values for the main loop
|
||||
|
||||
void sampling() {
|
||||
|
||||
// Make the initial sampling operations for the circuit measurements
|
||||
|
||||
sensorValue0 = analogRead(A0); //sample Vb
|
||||
sensorValue2 = analogRead(A2); //sample Vref
|
||||
sensorValue3 = analogRead(A3); //sample Vpd
|
||||
current_mA = ina219.getCurrent_mA(); // sample the inductor current (via the sensor chip)
|
||||
|
||||
// Process the values so they are a bit more usable/readable
|
||||
// The analogRead process gives a value between 0 and 1023
|
||||
// representing a voltage between 0 and the analogue reference which is 4.096V
|
||||
|
||||
vb = sensorValue0 * (4.096 / 1023.0); // Convert the Vb sensor reading to volts
|
||||
vref = sensorValue2 * (4.096 / 1023.0); // Convert the Vref sensor reading to volts
|
||||
vpd = sensorValue3 * (4.096 / 1023.0); // Convert the Vpd sensor reading to volts
|
||||
|
||||
// The inductor current is in mA from the sensor so we need to convert to amps.
|
||||
// We want to treat it as an input current in the Boost, so its also inverted
|
||||
// For open loop control the duty cycle reference is calculated from the sensor
|
||||
// differently from the Vref, this time scaled between zero and 1.
|
||||
// The boost duty cycle needs to be saturated with a 0.33 minimum to prevent high output voltages
|
||||
|
||||
if (Boost_mode == 1) {
|
||||
iL = -current_mA / 1000.0;
|
||||
dutyref = saturation(sensorValue2 * (1.0 / 1023.0), 0.99, 0.33);
|
||||
} else {
|
||||
iL = current_mA / 1000.0;
|
||||
dutyref = sensorValue2 * (1.0 / 1023.0);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
float saturation( float sat_input, float uplim, float lowlim) { // Saturatio function
|
||||
if (sat_input > uplim) sat_input = uplim;
|
||||
else if (sat_input < lowlim ) sat_input = lowlim;
|
||||
else;
|
||||
return sat_input;
|
||||
}
|
||||
|
||||
void pwm_modulate(float pwm_input) { // PWM function
|
||||
analogWrite(6, (int)(255 - pwm_input * 255));
|
||||
}
|
||||
|
||||
// This is a PID controller for the voltage
|
||||
|
||||
float pidv( float pid_input) {
|
||||
float e_integration;
|
||||
e0v = pid_input;
|
||||
e_integration = e0v;
|
||||
|
||||
//anti-windup, if last-time pid output reaches the limitation, this time there won't be any intergrations.
|
||||
if (u1v >= uv_max) {
|
||||
e_integration = 0;
|
||||
} else if (u1v <= uv_min) {
|
||||
e_integration = 0;
|
||||
}
|
||||
|
||||
delta_uv = kpv * (e0v - e1v) + kiv * Ts * e_integration + kdv / Ts * (e0v - 2 * e1v + e2v); //incremental PID programming avoids integrations.there is another PID program called positional PID.
|
||||
u0v = u1v + delta_uv; //this time's control output
|
||||
|
||||
//output limitation
|
||||
saturation(u0v, uv_max, uv_min);
|
||||
|
||||
u1v = u0v; //update last time's control output
|
||||
e2v = e1v; //update last last time's error
|
||||
e1v = e0v; // update last time's error
|
||||
return u0v;
|
||||
}
|
||||
|
||||
// This is a PID controller for the current
|
||||
|
||||
float pidi(float pid_input) {
|
||||
float e_integration;
|
||||
e0i = pid_input;
|
||||
e_integration = e0i;
|
||||
|
||||
//anti-windup
|
||||
if (u1i >= ui_max) {
|
||||
e_integration = 0;
|
||||
} else if (u1i <= ui_min) {
|
||||
e_integration = 0;
|
||||
}
|
||||
|
||||
delta_ui = kpi * (e0i - e1i) + kii * Ts * e_integration + kdi / Ts * (e0i - 2 * e1i + e2i); //incremental PID programming avoids integrations.
|
||||
u0i = u1i + delta_ui; //this time's control output
|
||||
|
||||
//output limitation
|
||||
saturation(u0i, ui_max, ui_min);
|
||||
|
||||
u1i = u0i; //update last time's control output
|
||||
e2i = e1i; //update last last time's error
|
||||
e1i = e0i; // update last time's error
|
||||
return u0i;
|
||||
}
|
||||
Loading…
Reference in a new issue